cmake_minimum_required(VERSION 3.8)
project(car_nav_lite)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)

set(INCLUDE_DIR include)

add_executable(nav_lite_node
  src/main.cpp
  src/grid_map.cpp
  src/localizer.cpp
  src/global_planner.cpp
  src/local_planner.cpp
  src/bt_executor.cpp
  src/session_mapper.cpp
)

target_include_directories(nav_lite_node PRIVATE
  ${INCLUDE_DIR}
  ${EIGEN3_INCLUDE_DIRS}
)

ament_target_dependencies(nav_lite_node
  rclcpp std_msgs geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros
)
target_link_libraries(nav_lite_node ${OpenCV_LIBS})

add_executable(calib_check src/calib_check.cpp)
target_include_directories(calib_check PRIVATE ${INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
ament_target_dependencies(calib_check rclcpp geometry_msgs nav_msgs tf2 tf2_ros)
install(TARGETS nav_lite_node calib_check DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch config maps DESTINATION share/${PROJECT_NAME})

ament_package()